[go: up one dir, main page]

WO2022077952A1 - Mécanisme de liaisons parallèles comprenant une chaîne à contrainte exacte et une chaîne de transmission ramifiée combinée - Google Patents

Mécanisme de liaisons parallèles comprenant une chaîne à contrainte exacte et une chaîne de transmission ramifiée combinée Download PDF

Info

Publication number
WO2022077952A1
WO2022077952A1 PCT/CN2021/102118 CN2021102118W WO2022077952A1 WO 2022077952 A1 WO2022077952 A1 WO 2022077952A1 CN 2021102118 W CN2021102118 W CN 2021102118W WO 2022077952 A1 WO2022077952 A1 WO 2022077952A1
Authority
WO
WIPO (PCT)
Prior art keywords
fixed
lead screw
guide rail
parallel
branch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/102118
Other languages
English (en)
Chinese (zh)
Inventor
吴孟丽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Civil Aviation University of China
Original Assignee
Civil Aviation University of China
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Civil Aviation University of China filed Critical Civil Aviation University of China
Publication of WO2022077952A1 publication Critical patent/WO2022077952A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention belongs to the technical field of parallel mechanisms, and in particular relates to a five-degree-of-freedom parallel mechanism comprising a precisely constrained and compound driving branch chain.
  • the configuration of the composite drive branch chain is applied to the parallel mechanism, which has the advantages of simplifying the structure, reducing interference and increasing the working space.
  • Chinese patent CN201410448759.6 discloses a composite drive three-branch six-degree-of-freedom motion simulation table, which has strong bearing capacity.
  • Chinese patent CN201410397874.5 discloses a redundant driving six-degree-of-freedom motion simulation table, which adopts six composite driving branch chains, so that the effective working space of the moving platform is improved to a certain extent.
  • the five-degree-of-freedom parallel mechanism can not only meet the requirements of processing complex curved surfaces, but also has the advantages of simpler structure, fewer driving parts, and simple kinematics.
  • Chinese patent CN201110199258.5 discloses a three-leg five-degree-of-freedom parallel mechanism with dual composite drive branches, which has high dexterity and a relatively simple structure.
  • the composite drive branch chain applied to the parallel mechanism mostly adopts the telescopic rod or the rotating pair as the direct drive, but only the use of the telescopic rod will reduce the radial stiffness, and the control of the direct drive rotating pair is difficult, which will affect the performance of the composite drive branch chain. .
  • the purpose of the present invention is to provide a parallel mechanism with just-constrained and compound drive branches.
  • the parallel mechanism provided by the present invention which contains a precisely constrained and compound driving branch chain, includes a fixed platform, a moving platform, a first branch chain, a second branch chain and a third branch chain;
  • the fixed platform includes a base fixed on the ground and a frame vertically fixed on the base;
  • a second Hooke hinge support and two spherical hinge supports are fixed on one end surface of the moving platform;
  • the first branch chain and the second branch chain are composite drive branch chains, and each composite drive branch chain includes a first moving component, a first connecting rod, a second connecting rod, a first driving component and a third driving component; the first moving component
  • the assembly includes a first guide rail and a first sliding block matched with it; the first guide rail is a linear guide rail, and the two first guide rails in the first branch chain and the second branch chain are fixed on the upper two sides of the front end surface of the frame and About the vertical center axis of the frame, it is symmetrically arranged in a figure-eight shape; Connected to form a second rotating pair; the front end of the second connecting rod is connected with the spherical hinge support through a spherical hinge; the rotation axis of the first rotating pair and the rotating axis of the second rotating pair are parallel to the first guide rail; the first drive assembly includes a first motor, a first lead screw and a first lead screw nut; the first motor is fixed on the front end surface of the frame
  • the third branch chain is an active branch chain that just constrains, including a second moving component, a fixed-length rod and a second driving component, which provide both driving and restraint, and the degree of freedom of the branch chain is equal to the degree of freedom of the moving platform;
  • the second moving component It includes a second guide rail and a second sliding block matched with it;
  • the second guide rail is a linear guide rail and is fixed at the vertical center axis of the front end surface of the frame; one end of the fixed-length rod is fixed on the The first Hook hinge support on the two sliders is connected, and the other end is connected with the second Hook hinge support through the second Hook hinge;
  • the second drive assembly includes a second motor, a second lead screw and a second lead screw nut;
  • the second motor is fixed on the front end surface of the frame, the output shaft is connected to the second lead screw, and the second lead screw is parallel to the second guide rail, and the second lead screw nut is fixed with the second slider;
  • the second lead screw The motor drives the second lead
  • the first connecting rod is a plate-shaped rod.
  • the second connecting rod is an inverted triangular plate-shaped rod.
  • the second Hooke hinge support and the two spherical hinge supports on the moving platform are distributed in a zigzag shape.
  • the compound drive of the branch chain is realized through two sets of drive components, which reduces the number of branches, reduces the interference, and increases the working space of the mechanism. Compared with the conventional compound drive methods such as direct driving of the rotating pair, the control difficulty is reduced.
  • the composite drive branch chain adopts plate rod, which can strengthen the radial rigidity of the branch chain, increase the bearing capacity of the mechanism, and improve the movement stability compared with the conventional telescopic rod.
  • Figure 1 is a schematic diagram of the whole machine structure of a five-degree-of-freedom parallel mechanism with just-constrained and compound drive branches.
  • Figure 2 is a schematic diagram of the structure of the fixed platform.
  • Figure 3 is a schematic diagram of the structure of the moving platform.
  • FIG. 4 is a schematic structural diagram of the first moving assembly and the first driving assembly.
  • FIG. 5 is a schematic diagram of the first branched chain structure.
  • FIG. 6 is a schematic structural diagram of the second moving assembly and the second driving assembly.
  • FIG. 7 is a schematic diagram of the third branched chain structure.
  • the parallel mechanism provided by the present invention containing just constraint and compound drive branch includes fixed platform 1, moving platform 2, first branch I, second branch II and third branch III ;
  • the fixed platform 1 includes a base 101 fixed on the ground and a frame 102 vertically fixed on the base 101;
  • a second Hooke hinge support 142 and two spherical hinge supports 11 are fixed on one end surface of the moving platform 2;
  • the first branch chain I and the second branch chain II are both composite drive branch chains, and each composite drive branch chain includes a first moving component 3 , a first connecting rod 7 , a second connecting rod 9 , a first driving component 30 and a second connecting rod 9 .
  • the first moving assembly 3 includes a first guide rail 301 and a first sliding block 302 matched with it;
  • the first guide rail 301 is a linear guide rail, and two of the first branch I and the second branch II
  • a guide rail 301 is fixed on both sides of the upper part of the front end surface of the frame 102 and is symmetrically arranged in a figure-eight shape with respect to the vertical central axis 103 of the frame 102 ;
  • a hinged support 501 is connected to form the first rotating pair 5, and the front end is connected to the rear of the second connecting rod 9 to form the second rotating pair 8;
  • the front end of the second connecting rod 9 is connected to the spherical hinge support 11 through a spherical hinge ;
  • the rotation axis of the first rotation pair 5 and the rotation axis of the second rotation pair 8 are parallel to the first guide rail 301;
  • the first drive assembly 30 includes the first motor 15, the first lead screw 303 and the first lead screw nut 304;
  • a motor 15
  • the third branch III is an active branch that is just constrained, including the second moving component 4 , the fixed-length rod 13 and the second driving component 40 , providing both driving and restraint, and the degree of freedom of the branch is equal to the degree of freedom of the moving platform 2 ;
  • the second moving assembly 4 includes a second guide rail 401 and a second sliding block 402 matched with it; the second guide rail 401 is a linear guide rail, fixed at the vertical center axis 103 on the front end surface of the rack 102; the fixed-length rod 13 One end is connected to the first Hook hinge support 122 fixed on the second slider 402 through the first Hook hinge 12, and the other end is connected to the second Hook hinge support 142 through the second Hook hinge 14;
  • the second drive assembly 40 includes a second motor 16, a second lead screw 403 and a second lead screw nut 404; the second motor 16 is fixed on the front end surface of the frame 102, the output shaft is connected to the second lead screw 403, and the first The second lead screw 403 is parallel to the second
  • the first connecting rod 7 is a plate-shaped rod.
  • the second connecting rod 9 is an inverted triangular plate-shaped rod.
  • the second Hooker hinge support 142 and the two spherical hinge supports 11 on the moving platform 2 are distributed in the shape of a zigzag.
  • two first lead screws 303 , two telescopic rods 602 and one second lead screw 403 are selected as the active pair, which can realize five degrees of freedom of the movable platform 2 ;
  • the two telescopic rods 602 are equidistantly telescopic in the same direction, and the second lead screw 403 is locked at the same time to realize the rotational freedom of the moving platform 2 around the x-axis;
  • the two telescopic rods 602 are unequally spaced or retracted in the same direction, which can realize the moving platform 2
  • the rotation axis of the seat 142 is always parallel to the movable platform 2, and the rotation axes of the two ends of the fixed-length rod 13 are parallel to each
  • the moving platform 2 By driving the first lead screw 303 to rotate, the moving components of the two first sliders 302 in the x-axis direction are equal, and with other active pairs, the moving platform 2 can be freely moved along the x-axis degree; by driving the first lead screw 303 and the second lead screw 403 to rotate, so that the second slider 402 cooperates with the two first sliders 302 in the y-axis direction with equal movement components, the movement of the movable platform 2 along the y-axis can be realized Degree of freedom; the two telescopic rods 602 are telescopic in the same direction and cooperate with the second lead screw 403 to realize the freedom of movement of the movable platform 2 along the z-axis. Finally, the moving platform 2 can realize five degrees of freedom in total, five degrees of freedom of movement in three directions and five degrees of freedom in rotation around the x and y axes.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

Un mécanisme de liaisons parallèles comprenant une chaîne à contrainte exacte et une chaîne de transmission ramifiée combinée, comprenant une plate-forme fixe (1), une plateforme mobile (2), une première chaîne ramifiée (I), une deuxième chaîne ramifiée (II) et une troisième chaîne ramifiée (III). La plate-forme fixe (1) comprend une base (101) fixée au sol et une crémaillère (102) fixée verticalement sur la base (101) ; un second support à charnière Hooke (142) et deux supports à charnière sphérique (11) sont fixés sur une surface d'extrémité de la plate-forme mobile (2) ; la première chaîne ramifiée (I) et la deuxième chaîne ramifiée (II) sont toutes deux des chaînes de transmission ramifiées combinées, et chaque chaîne de transmission ramifiée combinée comprend un premier ensemble mobile (3), une première tige de liaison (7), une seconde tige de liaison (9), un premier ensemble menant (30) et un troisième ensemble menant (6) ; la troisième chaîne ramifiée (III) est une chaîne active ramifiée à contrainte exacte, qui comprend un second ensemble mobile (4), une tige à longueur fixe (13) et un deuxième ensemble menant (40) ; et la troisième chaîne ramifiée (III) produit une transmission mais également une contrainte, et le degré de liberté de la chaîne ramifiée est égal à celui de la plate-forme mobile (2).
PCT/CN2021/102118 2020-10-13 2021-06-24 Mécanisme de liaisons parallèles comprenant une chaîne à contrainte exacte et une chaîne de transmission ramifiée combinée Ceased WO2022077952A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011090597.5 2020-10-13
CN202011090597.5A CN112238443B (zh) 2020-10-13 2020-10-13 一种含有恰约束和复合驱动支链的并联机构

Publications (1)

Publication Number Publication Date
WO2022077952A1 true WO2022077952A1 (fr) 2022-04-21

Family

ID=74168803

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/102118 Ceased WO2022077952A1 (fr) 2020-10-13 2021-06-24 Mécanisme de liaisons parallèles comprenant une chaîne à contrainte exacte et une chaîne de transmission ramifiée combinée

Country Status (2)

Country Link
CN (1) CN112238443B (fr)
WO (1) WO2022077952A1 (fr)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114523466A (zh) * 2022-04-22 2022-05-24 西安德普赛科计量设备有限责任公司 一种完全解耦的3转动2移动并联机构
CN114619424A (zh) * 2022-05-12 2022-06-14 浙江大学 微型爬行机器人的传动机构及微型爬行机器人
CN114654454A (zh) * 2022-04-29 2022-06-24 浙江理工大学 一种移动副驱动的三分支运动冗余并联机构
CN114952793A (zh) * 2022-05-31 2022-08-30 上海交通大学 双动平台两转一移三自由度并联机构及其铣削打磨设备
CN115138966A (zh) * 2022-07-21 2022-10-04 中国地质大学（武汉） 一种三分支五自由度超大工作空间激光加工机器人
CN115138964A (zh) * 2022-07-21 2022-10-04 中国地质大学（武汉） 一种面向复杂零部件激光加工的超大工作空间并联机器人
CN115217925A (zh) * 2022-08-01 2022-10-21 北京航天发射技术研究所 一种具有自锁功能的机械锁紧装置
CN115256352A (zh) * 2022-09-02 2022-11-01 上海交通大学 用于大型深腔类零件内壁打磨的折叠式可重构并联机器人
CN115446823A (zh) * 2022-10-21 2022-12-09 天津工业大学 一种具有两平行四边形结构支链的三自由度并联机器人
CN115648184A (zh) * 2022-11-01 2023-01-31 燕山大学 少驱动多层耦合混联机构
CN115890622A (zh) * 2022-11-16 2023-04-04 天津大学 一种具有大转角能力的多支链五自由度并联加工机器人
CN116067766A (zh) * 2022-10-13 2023-05-05 中国航发四川燃气涡轮研究院 航空发动机机匣多边并联加载装置
CN116077188A (zh) * 2023-01-09 2023-05-09 上海大学 一种空间混联的九自由度骨折复位机器人
CN116328995A (zh) * 2023-05-29 2023-06-27 常州市闳晖科技发展股份有限公司 一种五轴自动化喷涂机
CN116460825A (zh) * 2023-05-09 2023-07-21 常州大学 主次驱动运动解耦的六自由度并联机构
CN116475742A (zh) * 2023-05-16 2023-07-25 合肥工业大学 面向大空间变方向装配作业的刚柔耦合索付机器人
CN116652914A (zh) * 2023-07-04 2023-08-29 吉林大学 三平动冗余并联遥操作机械手
CN116728384A (zh) * 2023-08-11 2023-09-12 北京市农林科学院智能装备技术研究中心 多自由度混联果蔬采摘机械臂
CN117863157A (zh) * 2024-02-28 2024-04-12 燕山大学 两平移自由度并联调姿机构
CN118404566A (zh) * 2024-06-25 2024-07-30 江南大学 一种含可动导轨的两转一移并联机器人机构
CN118650423A (zh) * 2024-07-19 2024-09-17 江苏理工学院 一种位姿可调的阀门装配机器人及其使用方法
CN120269528A (zh) * 2025-04-27 2025-07-08 山东科技大学 一种新型四自由度3-PRPaR&RUPUR空间混联机械手及工作方法

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112238443B (zh) * 2020-10-13 2022-08-05 中国民航大学 一种含有恰约束和复合驱动支链的并联机构
CN113580113A (zh) * 2021-09-03 2021-11-02 北京理工大学 一种平移机器人的并联约束机构
CN113799104B (zh) * 2021-11-09 2023-09-29 中国民航大学 一种具有对称支链的四自由度并联机构
CN117773887A (zh) * 2022-04-30 2024-03-29 江苏普旭科技股份有限公司 轻量化高精度并联式多自由度运动平台
WO2024103759A1 (fr) * 2022-11-16 2024-05-23 天津大学 Robot parallèle à cinq degrés de liberté à trois chaînes ramifiées
CN115771135B (zh) * 2022-11-16 2025-02-11 天津大学 一种大工作空间少支链五自由度的并联加工机器人
CN115890626B (zh) * 2022-11-29 2024-12-03 清华大学 可实现大范围移动的五自由度空间并联机构
CN115743456A (zh) * 2022-12-23 2023-03-07 兰州交通大学 一种模拟海上浮式平台的六自由度平台装置
CN117871139B (zh) * 2024-01-17 2025-03-21 浙江大学 一种含有约束机构的4-spu三自由度并联重载摇摆台

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102248535A (zh) * 2011-07-18 2011-11-23 燕山大学 含双复合驱动分支三腿五自由度并联机构
CN104240548A (zh) * 2014-09-04 2014-12-24 燕山大学 一种复合驱动三分支六自由度运动模拟台
CN104269097A (zh) * 2014-08-13 2015-01-07 天津工程机械研究院 一种冗余驱动六自由度运动模拟台
CN105563462A (zh) * 2014-11-07 2016-05-11 江南大学 一种(1t2r)&1t1r五自由度解耦混联机构
WO2017003700A1 (fr) * 2015-06-30 2017-01-05 Microsoft Technology Licensing, Llc Dispositif et système de mesure rf
WO2017067726A1 (fr) * 2015-10-20 2017-04-27 Krones Aktiengesellschaft Robot à cinématique parallèle et procédé pour faire fonctionner un tel robot
CN107553472A (zh) * 2017-10-23 2018-01-09 河南科技大学 一种含有恰约束运动链的完全各向同性平面并联机构
CN112238443A (zh) * 2020-10-13 2021-01-19 中国民航大学 一种含有恰约束和复合驱动支链的并联机构

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101704242A (zh) * 2009-11-19 2010-05-12 天津理工大学 2-prt&prs三自由度空间并联机器人机构
CN102554919A (zh) * 2012-01-16 2012-07-11 燕山大学 含双复合等效球副五自由度并联机器人
WO2013162268A1 (fr) * 2012-04-26 2013-10-31 주식회사 고영테크놀러지 Microrobot parallèle à cinq degrés de liberté
CN104275691B (zh) * 2014-09-16 2016-08-24 燕山大学 具有三移两转五自由度的非对称并联机构
CN104950797B (zh) * 2015-04-30 2018-05-01 中国矿业大学 一种3-prrs六自由度并联定位平台
CN104875192A (zh) * 2015-05-19 2015-09-02 江南大学 一种三移动两转动完全各向同性混联机器人机构
CN106272344A (zh) * 2016-08-31 2017-01-04 上海交通大学 具有三移二转五自由度的Hex‑Delta机器人
CN107088870B (zh) * 2017-03-29 2019-07-26 燕山大学 基于改进3puu平动机构的移/转独立控制的混联装置
CN107538052A (zh) * 2017-09-15 2018-01-05 北京交通大学 一类冗余驱动主动过约束三自由度并联机床

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102248535A (zh) * 2011-07-18 2011-11-23 燕山大学 含双复合驱动分支三腿五自由度并联机构
CN104269097A (zh) * 2014-08-13 2015-01-07 天津工程机械研究院 一种冗余驱动六自由度运动模拟台
CN104240548A (zh) * 2014-09-04 2014-12-24 燕山大学 一种复合驱动三分支六自由度运动模拟台
CN105563462A (zh) * 2014-11-07 2016-05-11 江南大学 一种(1t2r)&1t1r五自由度解耦混联机构
WO2017003700A1 (fr) * 2015-06-30 2017-01-05 Microsoft Technology Licensing, Llc Dispositif et système de mesure rf
WO2017067726A1 (fr) * 2015-10-20 2017-04-27 Krones Aktiengesellschaft Robot à cinématique parallèle et procédé pour faire fonctionner un tel robot
CN107553472A (zh) * 2017-10-23 2018-01-09 河南科技大学 一种含有恰约束运动链的完全各向同性平面并联机构
CN112238443A (zh) * 2020-10-13 2021-01-19 中国民航大学 一种含有恰约束和复合驱动支链的并联机构

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114523466A (zh) * 2022-04-22 2022-05-24 西安德普赛科计量设备有限责任公司 一种完全解耦的3转动2移动并联机构
CN114654454A (zh) * 2022-04-29 2022-06-24 浙江理工大学 一种移动副驱动的三分支运动冗余并联机构
CN114619424A (zh) * 2022-05-12 2022-06-14 浙江大学 微型爬行机器人的传动机构及微型爬行机器人
CN114952793A (zh) * 2022-05-31 2022-08-30 上海交通大学 双动平台两转一移三自由度并联机构及其铣削打磨设备
CN115138966A (zh) * 2022-07-21 2022-10-04 中国地质大学（武汉） 一种三分支五自由度超大工作空间激光加工机器人
CN115138964A (zh) * 2022-07-21 2022-10-04 中国地质大学（武汉） 一种面向复杂零部件激光加工的超大工作空间并联机器人
CN115138964B (zh) * 2022-07-21 2023-09-22 中国地质大学（武汉） 一种面向复杂零部件激光加工的超大工作空间并联机器人
CN115217925A (zh) * 2022-08-01 2022-10-21 北京航天发射技术研究所 一种具有自锁功能的机械锁紧装置
CN115217925B (zh) * 2022-08-01 2024-04-05 北京航天发射技术研究所 一种具有自锁功能的机械锁紧装置
CN115256352A (zh) * 2022-09-02 2022-11-01 上海交通大学 用于大型深腔类零件内壁打磨的折叠式可重构并联机器人
CN116067766A (zh) * 2022-10-13 2023-05-05 中国航发四川燃气涡轮研究院 航空发动机机匣多边并联加载装置
CN115446823A (zh) * 2022-10-21 2022-12-09 天津工业大学 一种具有两平行四边形结构支链的三自由度并联机器人
CN115648184A (zh) * 2022-11-01 2023-01-31 燕山大学 少驱动多层耦合混联机构
CN115890622A (zh) * 2022-11-16 2023-04-04 天津大学 一种具有大转角能力的多支链五自由度并联加工机器人
CN116077188A (zh) * 2023-01-09 2023-05-09 上海大学 一种空间混联的九自由度骨折复位机器人
CN116460825A (zh) * 2023-05-09 2023-07-21 常州大学 主次驱动运动解耦的六自由度并联机构
CN116460825B (zh) * 2023-05-09 2025-08-05 常州大学 主次驱动运动解耦的六自由度并联机构
CN116475742A (zh) * 2023-05-16 2023-07-25 合肥工业大学 面向大空间变方向装配作业的刚柔耦合索付机器人
CN116328995B (zh) * 2023-05-29 2023-07-21 常州市闳晖科技发展股份有限公司 一种五轴自动化喷涂机
CN116328995A (zh) * 2023-05-29 2023-06-27 常州市闳晖科技发展股份有限公司 一种五轴自动化喷涂机
CN116652914A (zh) * 2023-07-04 2023-08-29 吉林大学 三平动冗余并联遥操作机械手
CN116652914B (zh) * 2023-07-04 2023-12-19 吉林大学 三平动冗余并联遥操作机械手
CN116728384A (zh) * 2023-08-11 2023-09-12 北京市农林科学院智能装备技术研究中心 多自由度混联果蔬采摘机械臂
CN116728384B (zh) * 2023-08-11 2023-12-05 北京市农林科学院智能装备技术研究中心 多自由度混联果蔬采摘机械臂
CN117863157A (zh) * 2024-02-28 2024-04-12 燕山大学 两平移自由度并联调姿机构
CN118404566A (zh) * 2024-06-25 2024-07-30 江南大学 一种含可动导轨的两转一移并联机器人机构
CN118650423A (zh) * 2024-07-19 2024-09-17 江苏理工学院 一种位姿可调的阀门装配机器人及其使用方法
CN120269528A (zh) * 2025-04-27 2025-07-08 山东科技大学 一种新型四自由度3-PRPaR&RUPUR空间混联机械手及工作方法

Also Published As

Publication number Publication date
CN112238443A (zh) 2021-01-19
CN112238443B (zh) 2022-08-05

Similar Documents

Publication Publication Date Title
CN112238443B (zh) 一种含有恰约束和复合驱动支链的并联机构
CN112454337B (zh) 具有可大角度扭转动平台和复合支链的四自由度并联机构
CN112454336B (zh) 一种分体式五自由度并联机构
CN112518721B (zh) 一种四自由度完全解耦复合驱动并联机构
CN104985596B (zh) 一种含多轴转动支架的五自由度混联机器人
CN107443173B (zh) 一种具有可重构特性的大行程、高刚度串并混联机床
WO2022088508A1 (fr) Mécanisme parallèle redondant contraint à quatre degrés de liberté comprenant deux degrés de liberté en rotation et deux degrés de liberté en translation
CN107538052A (zh) 一类冗余驱动主动过约束三自由度并联机床
CN101497167B (zh) 一种无伴随运动的并联式三轴主轴头结构
CN103273356A (zh) 一种基于四自由度并联机构的多轴联动混联装置
CN105784316A (zh) 一种用于高超声速风洞多体分离试验的高刚度嵌入式装置
CN111496765A (zh) 一种空间两转动和一移动的三自由度并联机构
CN113799104B (zh) 一种具有对称支链的四自由度并联机构
CN112276910A (zh) 一种含有双滑轨复合支链的并联机构
CN207592864U (zh) 冗余驱动主动过约束三自由度的并联机床
CN111604885B (zh) 一种含多轴转动支架的六自由度混联机器人
CN114952793B (zh) 双动平台两转一移三自由度并联机构及其铣削打磨设备
CN212217783U (zh) 立式混联雕刻机
CN110695716A (zh) 一种可用于大型工件复杂曲面加工的五自由度冗余驱动混联机床
CN111438682B (zh) 具有两转一移三自由度的工业移动翻转台
CN111496766B (zh) 一种基于电动缸的三自由度并联机构
CN112621717B (zh) 一种基于环形导轨的冗余支链并联机构
CN1078515C (zh) 复合式五坐标数控机床结构
CN115157219B (zh) 一种五自由度超大工作空间混联复合加工机器人
CN112428257B (zh) 一种具有复合驱动支链的六自由度并联机构

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21879001

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21879001

Country of ref document: EP

Kind code of ref document: A1